U.S. patent application number 15/848943 was filed with the patent office on 2018-07-26 for radar systems for vehicles and methods for operating radar systems of vehicles.
The applicant listed for this patent is Infineon Technologies AG. Invention is credited to Dirk Hammerschmidt, Herbert Jaeger, Rudolf Lachner.
Application Number | 20180210079 15/848943 |
Document ID | / |
Family ID | 62251717 |
Filed Date | 2018-07-26 |
United States Patent
Application |
20180210079 |
Kind Code |
A1 |
Hammerschmidt; Dirk ; et
al. |
July 26, 2018 |
RADAR SYSTEMS FOR VEHICLES AND METHODS FOR OPERATING RADAR SYSTEMS
OF VEHICLES
Abstract
A radar system for a vehicle includes an antenna element
installable at an outer shell of the vehicle, a dielectric
waveguide, and a radar circuit configured to communicate with the
antenna element via the dielectric waveguide.
Inventors: |
Hammerschmidt; Dirk;
(Finkerstein, AT) ; Jaeger; Herbert; (Linz,
AT) ; Lachner; Rudolf; (Ingolstadt, DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Infineon Technologies AG |
Neubiberg |
|
DE |
|
|
Family ID: |
62251717 |
Appl. No.: |
15/848943 |
Filed: |
December 20, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 2013/93275
20200101; G01S 7/35 20130101; G01S 13/931 20130101; G01S 2013/0254
20130101; H01Q 1/3233 20130101; G01S 7/03 20130101; G01S 13/48
20130101 |
International
Class: |
G01S 13/93 20060101
G01S013/93; G01S 7/35 20060101 G01S007/35 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 21, 2016 |
DE |
102016125190.9 |
Claims
1. A radar system for a vehicle, comprising: a first antenna
element installable at an outer shell of the vehicle; a first
dielectric waveguide; and a radar circuit configured to communicate
with the first antenna element via the dielectric waveguide.
2. The radar system of claim 1, wherein the radar circuit and the
first antenna element are configured for at least one of commonly
emitting a synthesized radar signal towards a target and
simultaneously receiving respective portions of a reflection of a
radar signal from the target.
3. The radar system of claim 1, wherein the first antenna element
is implemented as an open end of the dielectric waveguide.
4. The radar system of claim 1, further comprising: a second
antenna element installable at an outer shell of the vehicle and a
second dielectric waveguide, wherein the radar circuit is
configured to simultaneously communicate with the first antenna
element via the first dielectric waveguide and with the second
antenna element via the second dielectric waveguide.
5. The radar system of claim 4, wherein the radar circuit is
configured to generate phase coherently for a first and a second
radio frequency signal, to provide the first radio frequency signal
to the first antenna element via the first dielectric waveguide,
and to provide the second radio frequency signal to the second
antenna element via the second dielectric waveguide.
6. The radar system of claim 5, wherein the radar circuit is
configured to modulate the first and the second radio frequency
signals.
7. The radar system of claim 5, wherein the radar circuit is
configured to generate a common local oscillator signal and to
derive the first and the second radio frequency signals from the
common local oscillator signal.
8. The radar system of claim 5, wherein the first antenna element
is configured to adjust a phase of the first radio frequency
signal, and the second antenna element is configured to adjust a
phase of the second radio frequency signal.
9. The radar system of claim 5, wherein the first antenna element
is configured to emit a radar signal corresponding to the first
radio frequency signal.
10. The radar system of claim 4, wherein the first antenna element
is configured to provide a first receive signal corresponding to a
first portion of a radar signal reflected from a target and
incident at the first antenna element to the radar circuit, and the
second antenna element is configured to simultaneously provide a
second receive signal corresponding to a second portion of the
reflected radar signal incident at the second antenna element to
the radar circuit.
11. The radar system of claim 10, further comprising a radar lens
configured to focus the first portion of the reflected radar signal
towards the first antenna element and to focus the second portion
of the reflected radar signal towards the second antenna
element.
12. The radar system of claim 10, further comprising a third
dielectric waveguide, wherein the first antenna element is
configured to provide the first receive signal to the radar circuit
via the third dielectric waveguide.
13. The radar system of claim 10, wherein the first antenna element
is configured to mix the first portion of the reflected radar
signal with the first radio frequency signal for providing the
first receive signal, and the second antenna element is configured
mix the second portion of the reflected radar signal with the
second radio frequency signal for providing the second receive
signal.
14. The radar system of claim 10, wherein the first antenna element
is configured to demodulate the first portion of the reflected
radar signal for providing the first receive signal, and the second
antenna element is configured to demodulate the second portion of
the reflected radar signal for providing the second receive
signal.
15. The radar system of claim 14, wherein the first antenna element
is configured to derive first digital data from the demodulated
first portion of the reflected radar signal and to modulate the
first receive signal according to the first digital data, and the
second antenna element is configured to derive second digital data
from the demodulated second portion of the reflected radar signal
and to modulate the second receive signal according to the second
digital data.
16. The radar system of claim 4, wherein the first and the second
antenna elements constitute at least a part of an antenna
array.
17. The radar system of claim 16, wherein the radar circuit
comprises at least one antenna being an element of the antenna
array.
18. The radar system of claim 4, wherein the radar circuit
comprises a first coupling antenna coupled to the first dielectric
waveguide, and a second coupling antenna coupled to the second
dielectric waveguide.
19. A vehicle, comprising: a plurality of radar radio heads
arranged at an outer shell of the vehicle; a plurality of
waveguides; and a radar circuit configured to generate a common
local oscillator signal and simultaneously provide respective radio
frequency signals derived from the common local oscillator signal
to the plurality of radar radio heads via the plurality of
waveguides.
20. The vehicle of claim 19, wherein each of the plurality of radar
radio heads comprises an antenna, and a maximum angle between two
antenna main lobes of any of the antennas of the radar radio heads
is less than 20 degree.
21. The vehicle of claim 19, wherein the plurality of radar radio
heads is installed at a bumper of the vehicle.
22. The vehicle of claim 19, wherein a minimum distance between any
of the radar radio heads is larger than 5 cm.
23. The vehicle of claim 19, wherein at least one of the plurality
of radar radio heads is configured to transmit a radar signal
towards a target outside the vehicle, and each of the radar radio
heads is configured to simultaneously receive a respective portion
of a reflection of the radar signal from the target.
24. The vehicle of claim 23, wherein each of the radar radio heads
is configured to mix the respective received portion of the
reflection with a respective radio frequency signal derived from
the common local oscillator signal.
25. The vehicle of claim 19, wherein the radar circuit comprises an
antenna and is configured for at least one of transmitting a radar
signal towards a target outside the vehicle and receiving a portion
of a reflection of a radar signal from a target outside the vehicle
via the antenna.
Description
FIELD
[0001] Examples relate to radar systems for vehicles, vehicles
equipped with radar systems, and methods for operating radar
systems of vehicles.
BACKGROUND
[0002] Over the past years significant advances have been made in
the area of driver assistance systems for vehicles, for example,
for cars. These systems are being developed for providing higher
safety, more driving comfort, and with the prospect of creating
autonomously driving vehicles. Driver assistance systems rely on
inputs from multiple data sources. A primary one of these are radar
systems that enable the vehicle to observe and to see its
environment and measure speed and distances of targets. Radar
systems are superior in various aspects to other imaging systems,
for example, they may operate at bright daylight, at darkness, in
multiple weather situations such as fog, rain, wind, or snow, and
may provide high resolution imaging when being operated in the
millimeter wave range. Of interest are often the required operation
conditions for the achievement of good radar measurements are at
least partly complementary to the ones of optical systems. Such
high frequencies usually require sophisticated and expensive
electronics and cabling that can process frequencies far above 20
GHz. Hence, there is a desire to reduce costs of such radar systems
for vehicles while aiming for improved performance parameters, such
as accuracy, resolution, reliability, or sensitivity of the radar
system.
[0003] At least to some extent, such a demand can be satisfied by
the subject matter of the present disclosure.
SUMMARY
[0004] According to a first aspect of the present disclosure, it is
provided a radar system for a vehicle. The radar system comprises
an antenna element installable at an outer shell of the vehicle, a
dielectric waveguide, and a radar circuit configured to communicate
with the antenna element via the dielectric waveguide.
[0005] According to a second aspect of the present disclosure, it
is provided a vehicle comprising a plurality of radar radio heads
arranged at an outer shell of the vehicle, a plurality of
waveguides, and a radar circuit configured to generate a common
local oscillator signal and to simultaneously provide respective
radio frequency signals derived from the common local oscillator
signal to the plurality of radar radio heads via the plurality of
waveguides.
[0006] According to a third aspect of the present disclosure, it is
provided a method for operating a radar system of a vehicle, the
method comprising generating a common local oscillator signal with
a radar circuit of the vehicle, deriving a phase coherent first and
second radio frequency signal from the common local oscillator
signal, providing simultaneously the first radio frequency signal
to a first antenna element of the vehicle via a first dielectric
waveguide and the second radio frequency signal to a second antenna
element of the vehicle via a second dielectric waveguide.
BRIEF DESCRIPTION OF THE FIGURES
[0007] Some examples of apparatuses and/or methods will be
described in the following by way of example only, and with
reference to the accompanying figures, in which
[0008] FIG. 1 shows a block diagram of a radar system for a
vehicle;
[0009] FIG. 2 shows a block diagram of a vehicle;
[0010] FIG. 3 shows block diagram of a radar system installed at a
bumper of a vehicle;
[0011] FIG. 4 shows block diagram of another radar system installed
at a bumper of a vehicle; and
[0012] FIG. 5 shows a flow chart of a method for operating a radar
system of a vehicle.
DETAILED DESCRIPTION
[0013] Various examples will now be described more fully with
reference to the accompanying drawings in which some examples are
illustrated. In the figures, the thicknesses of lines, layers
and/or regions may be exaggerated for clarity.
[0014] Accordingly, while further examples are capable of various
modifications and alternative forms, some particular examples
thereof are shown in the figures and will subsequently be described
in detail. However, this detailed description does not limit
further examples to the particular forms described. Further
examples may cover all modifications, equivalents, and alternatives
falling within the scope of the disclosure. Like numbers refer to
like or similar elements throughout the description of the figures,
which may be implemented identically or in modified form when
compared to one another while providing for the same or a similar
functionality.
[0015] It will be understood that when an element is referred to as
being "connected" or "coupled" to another element, the elements may
be directly connected or coupled or via one or more intervening
elements. If two elements A and B are combined using an "or", this
is to be understood to disclose all possible combinations, i.e.
only A, only B as well as A and B. An alternative wording for the
same combinations is "at least one of A and B". The same applies
for combinations of more than 2 Elements.
[0016] The terminology used herein for the purpose of describing
particular examples is not intended to be limiting for further
examples. Whenever a singular form such as "a," "an" and "the" is
used and using only a single element is neither explicitly or
implicitly defined as being mandatory, further examples may also
use plural elements to implement the same functionality. Likewise,
when a functionality is subsequently described as being implemented
using multiple elements, further examples may implement the same
functionality using a single element or processing entity. It will
be further understood that the terms "comprises," "comprising,"
"includes" and/or "including," when used, specify the presence of
the stated features, integers, steps, operations, processes, acts,
elements and/or components, but do not preclude the presence or
addition of one or more other features, integers, steps,
operations, processes, acts, elements, components and/or any group
thereof.
[0017] Unless otherwise defined, all terms (including technical and
scientific terms) are used herein in their ordinary meaning of the
art to which the examples belong.
[0018] FIG. 1 shows a block diagram of a radar system 100 for a
vehicle. The radar system 100 comprises at least one antenna
element 110-1 (e.g., a first antenna element) installable at an
outer shell of the vehicle. Furthermore, the radar system 100
comprises at least one dielectric waveguide 130-1 (e.g., a first
dielectric waveguide). Furthermore, the radar system 100 comprises
a radar unit 140 configured to communicate with the antenna element
110-1 via the dielectric waveguide 130-1.
[0019] A radar system with a radar unit, which can communicate with
at least one antenna element via a dielectric waveguide, can
provide flexibility and adaptability to various applications and
customer requirements. For example, the number of antenna elements
connectable via dielectric waveguides to the radar unit can be
flexible. For example, in luxury vehicles and/or in vehicles
needing a high precision of their radar system, multiple (e.g.,
more than one, more than three, more than five, or more than ten)
antenna elements can be connected via respective dielectric
waveguides to the radar unit. Vehicles, whose manufacturing costs
pose more stringent requirements, may be equipped with less antenna
elements, for example, just one or two antenna elements. However,
in general, the radar unit communicating with one or more antenna
elements can avoid providing a dedicated, independent radar
transceiver at each antenna element. This can reduce costs of the
radar system. Furthermore, employing a dielectric waveguide (or
dielectric waveguides) for the communication between the radar unit
and the antenna element(s) can further reduce costs and can also
protect the radar system against electrostatic discharge (ESD).
[0020] The radar unit 140 and at least one antenna element (e.g.,
the first antenna element 110-1) can be configured for commonly
emitting a synthesized radar signal towards a target and/or for
simultaneously receiving respective portions of a reflection of a
radar signal from the target. In this way, a spatial resolution
(e.g., an angular resolution and/or a range resolution) of the
radar system 100 can be enhanced.
[0021] For example, the radar unit 140 can also be installable at
the outer shell of the vehicle and can comprise at least one
transmit antenna and at least one receive antenna (or at least one
combined transceive antenna). The transmit antenna and the receive
antenna (or the transceive antenna) of the radar unit can, for
instance, be microstrip antennas such as patch antennas, dipole
antennas, monopole antennas, slot antennas, and/or frame antennas
in microstrip technology. The first antenna element 110-1 can also
comprise a transmit antenna and a receive antenna (or a combined
transceive antenna). The antennas (or the antenna) of the first
antenna element 110-1 can, for example, be horn antennas (or a horn
antenna) coupled to the first dielectric waveguide that can connect
the first antenna element 110-1 with the radar unit 140. The radar
unit 140 and the first antenna element 110-1 can both emit
respective radar signals, which can be phase coherent and can form
a synthesized radar signal. The radar unit (and/or the first
antenna element 110-1) can be configured to adjust a phase shift
between the respective radar signals, so that the direction of
propagation of the synthesized radar signal can be controlled. The
radar signal emitted by the first antenna element 110-1 (or an RF
signal corresponding to the radar signal) can, for example, be
provided by the radar unit 140 via the first dielectric waveguide
110-1.
[0022] Additionally or alternatively, the radar unit 140 and at
least one antenna element (e.g., the first antenna element 110-1)
can be configured for simultaneously receiving respective portions
of a reflection of a radar signal from the target. The reflected
radar signal can be the synthesized radar signal commonly emitted
by the radar unit 140 and the first antenna element 110-1, or can
be a radar signal that has been emitted solely by the radar unit
140 or solely by the first antenna element 110-1 (or solely by
another optional antenna element of the radar system 100).
Simultaneously receiving respective portions of a reflection of a
radar signal at the radar unit 140 and at the first antenna element
110-1 can allow determining a direction from the radar system 100
to the target, for instance, by triangulation and/or by direction
of arrival estimation based algorithms, such as MUSIC (Multiple
Signal Classification) and/or ESPRIT (Estimation of Signal
Parameter via Rotational Invariance Technique). For example, the
radar unit 140 can be configured to determine the direction towards
the target.
[0023] Furthermore, upon reception of the respective portions of
the reflected radar signal, the radar unit 140 and the first
antenna element 110-1 (and optionally additional antenna elements
of the radar system 100) may mix the respective portions of the
reflected radar signal to an intermediate frequency or to baseband
using a common local oscillator signal. This common local
oscillator signal can, for example, be generated by the radar unit
140 and be provided via the first dielectric waveguide 130-1 to the
first antenna element 110-1 (and optionally via additional
dielectric waveguides to additional antenna elements). The radar
unit may correlate the respective frequency converted portions of
the reflected radar signal and thus reduce phase noise and/or
amplitude noise contributed by the common local oscillator signal.
This can enhance the sensitivity and/or reduce the noise figure of
the radar system 100.
[0024] The radar system 100 can further comprise a second antenna
element 110-2. The second antenna element 110-2 can be installable
at the outer shell of the vehicle. Moreover, the radar system 100
can comprise a second dielectric waveguide 130-2. The radar unit
140 can be configured to simultaneously communicate with the first
antenna element 110-1 via the first dielectric waveguide 130-1 and
with the second antenna element 110-2 via the second dielectric
waveguide 130-2.
[0025] By providing a radar system with a radar unit, which can
simultaneously communicate with a plurality of antenna elements via
a plurality of dielectric waveguides, a spatial resolution (e.g.,
an angular resolution and/or a range resolution) of the radar
system can be enhanced. For detection and/or tracking of targets,
the radar unit can simultaneously provide signals to the antenna
elements and/or simultaneously receive signals from the antenna
elements via the dielectric waveguides. In this way, signals used
for detection and/or tracking of targets at the antenna elements
can be correlated which can be used for reducing noise (e.g., phase
noise and/or amplitude noise) in the radar system. The radar unit
can further perform signal processing of signals provided by the
different antenna elements and hence combine target related
information delivered by the antenna elements for more accurate and
more reliable detection and/or tracking of targets (e.g., by
triangulation between the 2 or more antenna elements.). For
example, each of the antenna elements can be installed at a
different position at an outer shell (e.g., a body shell, a bumper,
a windscreen, a rear window, an exterior mirror, a trunk, etc.) of
a vehicle. In this way, triangulation with improved accuracy can be
achieved, for example.
[0026] Communication of the radar unit 140 with the first and/or
the second antenna element 110-1, 110-2 via the first and/or the
second dielectric waveguide 130-1, 130-2, respectively, can
comprise providing signals from the radar unit 140 to the first
and/or the second antenna element 110-1, 110-2, and/or can comprise
providing signals from the first and/or the second antenna element
110-1, 110-2 to the radar unit 140. In other words, the
transmission of signals between the radar unit 140 and the first
and/or the second antenna element 110-1, 110-2 via the first and
the second dielectric waveguide 130-1, 130-2, respectively (and/or
with optional additional antenna elements via additional respective
dielectric waveguides), can be unidirectional (from the radar unit
to the antenna element(s) or vice versa) or can be
bidirectional.
[0027] The radar unit 140 can be configured to generate phase
coherently a first and a second radio frequency signal (RF signal).
Additionally, the radar unit 140 can be configured to provide the
first RF signal to the first antenna element 110-1 via the first
dielectric waveguide 130-1, and to provide the second RF signal to
the second antenna element 110-2 via the second dielectric
waveguide 130-2. By providing phase coherent RF signals to the
first and the second antenna element 110-1, 110-2 phase noise
and/or the noise figure of the radar system 100 can be reduced.
This can in turn enhance the sensitivity of the radar system
100.
[0028] For example, the first antenna element 110-1 can be
configured to emit a radar signal corresponding to the first RF
signal. The radar signal emitted by the first antenna element 110-1
can be the first RF signal or can be generated from the first RF
signal.
[0029] To this end, the radar unit 140 can be configured to
generate a common local oscillator signal and to derive the first
and the second RF signal from the common local oscillator signal.
The first and the second RF signal can be the common local
oscillator signal or can be a harmonic of the local oscillator
signal. At the first antenna element 110-1, the first RF signal
corresponding to the common local oscillator signal (or to harmonic
thereof) can be used to up-convert a baseband signal provided, for
example, by the first antenna element and thus to generate the
emitted radar signal. Alternatively, the first RF signal
corresponding to the common local oscillator signal (or to harmonic
thereof) can itself be emitted by the first antenna element
110-1.
[0030] Additionally, the second antenna element 110-2 can be
configured to simultaneously (e.g., simultaneously to the emission
of the radar signal by the first antenna element 110-1) emit a
second radar signal corresponding to the second RF signal. In this
way, a direction of emission of a synthesized radar signal
constituted (at least) by the first and the second radar signal can
be controlled. As for the first RF signal, the second RF signal can
correspond to the common local oscillator signal (or to harmonic
thereof) and can be used to up-convert a (second) baseband signal
provided, for example, by the second antenna element 110-2 and thus
to generate the second radar signal. Alternatively, the second RF
signal corresponding to the common local oscillator signal (or to
harmonic thereof) can itself be emitted by the second antenna
element 110-2.
[0031] An antenna element (e.g., the first and/or the second
antenna element 110-1, 110-2) can be configured to transform a
transmission line bound electromagnetic wave to a free space
electromagnetic wave. For example, for emission of the first radar
signal from the first antenna element 110-1 and/or for the emission
of the second radar signal from the second antenna element 110-2,
the first and/or the second antenna element 110-1, 110-2 can each
comprise an antenna, for example, a respective patch antenna,
microstrip antenna and/or horn antenna coupled to the end of the
first and/or the second dielectric waveguide 130-1, 130-2.
[0032] In some embodiments, at least one antenna element can be
implemented as an open end of a dielectric waveguide. For example,
the first antenna element 110-1 can be implemented as an open end
of the first dielectric waveguide 130-1. The first RF signal can
then be emitted as the first radar signal from the open end of the
first dielectric waveguide 130-1. Additionally or alternatively,
the second antenna element 110-2 can be implemented as an open end
of the second dielectric waveguide 130-2. The second RF signal can
then be emitted as the second radar signal from the open end of the
second dielectric waveguide 130-2. Implementing at least one
antenna element as an open end of a dielectric waveguide can avoid
providing additional antennas, which can safe production costs
and/or ease space requirements when installing the radar system 100
in a vehicle.
[0033] Additionally, a characteristic impedance of the first and/or
the second dielectric waveguide 130-1, 130-2 can be larger than 150
Ohm (or larger than 200 Ohm, or larger than 300 Ohm) and/or can be
smaller than 500 Ohm (or smaller than 450 Ohm, or smaller than 400
Ohm). This can provide an improved matching of the characteristic
impedance of the first and/or the second dielectric waveguide
130-1, 130-2 to the impedance of free space, when the first and/or
the second antenna element 110-1, 110-2 are implemented as an open
end of the first and/or the second dielectric waveguide 130-1,
130-2, respectively.
[0034] The first antenna element 110-1 can be configured to amplify
the first RF signal, and the second antenna element 110-2 can be
configured to amplify the second RF signal. To this end, the first
antenna element 110-1 can comprise a first RF amplifier and the
second antenna element 110-2 can comprise a second RF amplifier. In
this way, the insertion loss of the first and the second dielectric
waveguide 130-1, 130-2 can be recovered at the first and the second
antenna element 110-1, 110-2, respectively. Furthermore, amplifying
the first and the second RF signal can provide sufficient transmit
power to first and the second radar signal, respectively, and/or
can make the first and/or the second RF signal useable for driving
a respective mixer at the first and/or the second antenna element
110-1, 110-2.
[0035] The first antenna element 110-1 can be configured to
modulate the first RF signal, and/or the second antenna element
110-2 can be configured to modulate the second RF signal. For
example, the first antenna element 110-1 can comprise a first mixer
to modulate the first RF signal with a first baseband signal
provided by the first antenna element 110-1. In this way, the first
antenna element 110-1 can be configured to modulate the amplitude,
the frequency, and/or the phase of the first RF signal and thus to
transform the first RF signal into a first radar signal emitted by
the first antenna element 110-1.
[0036] Similarly, the second antenna element 110-2 can comprise a
second mixer to modulate the second RF signal with a second
baseband signal provided by the second antenna element 110-2. In
this way, the second antenna element 110-2 can be configured to
modulate the amplitude, the frequency, and/or the phase of the
second RF signal and thus to transform the second RF signal into a
second radar signal emitted by the second antenna element
110-2.
[0037] By modulating the amplitude of the first and/or the second
RF signal, the radar system 100 can be operated according to the
principles of a pulse radar that emits short and powerful pulses
and in the silent period receives reflections corresponding to the
emitted pulses. By modulating the frequency of the first and/or the
second RF signal, the radar system 100 can be operated according to
the principles of a frequency modulated continuous wave (FMCW)
radar. For example, this can allow determining the position and the
(radial) speed of a target detected by the radar system 100.
[0038] Alternatively (or additionally) to modulating the first and
the second RF signal at the first and/or the second antenna element
110-1, 110-2, respectively, the radar unit 140 can be configured to
modulate the first and the second radio frequency signal. This can
reduce hardware effort at the first and/or the second antenna
element 110-1, 110-2, and hence reduce costs. For example, the
radar unit 140 can comprise a voltage controlled oscillator (VCO)
to modulate the frequency of the common local oscillator signal. To
derive the first and the second RF signal from the common local
oscillator signal, the radar unit 140 can comprise a power splitter
(e.g., a Wilkinson divider, a directional coupler and/or a
resistive power splitter). The radar unit 140 can then derive first
and the second RF signal by splitting the power of the common local
oscillator signal to dedicated signals paths of the first and the
second RF signal.
[0039] For example, in order to control a direction of emission of
a synthesized radar signal (that is constituted by the first and
the second radar signal), the radar unit 140 can be configured to
adjust a phase shift between the first and the second radio
frequency signal. To this end, the radar unit 140 can comprise
respective phase shifter circuits in the signal paths of the first
and the second RF signal (or at least one phase shifter circuit in
one of the signals paths). Alternatively, or additionally, the
first antenna element 110-1 can be configured to adjust a phase of
the first RF signal, and/or the second antenna element 110-2 can be
configured to adjust a phase of the second radio frequency signal.
To this end, the first antenna element 110-1 can comprise a (first)
phase shifter circuit and/or the second antenna element 110-2 can
comprise a (second) phase shifter circuit. In other words, by
adjusting a phase shift between the first and the second RF signal
at the radar unit 140 and/or at the first and/or the second antenna
element 110-1, 110-2, the radar system 100 can be configured for
digital beamforming. For this purpose, the first and the second
antenna element may be arranged adjacent to each other and face
substantially the same direction.
[0040] Furthermore, the radar unit 140 can be configured to
multiply the common local oscillator signal and to derive the first
and the second RF signal from the multiplied common local
oscillator signal. In other words, the first and the second radio
frequency signal may be a harmonic of the common local oscillator
signal (e.g., the second harmonic, the third harmonic, the fourth
harmonic, or a higher harmonic). Herein, the second harmonic refers
to twice the fundamental frequency of the common local oscillator
signal, the third harmonic to three times the fundamental
frequency, and so on. To this end, the radar unit can comprise a
frequency multiplier and may additionally comprise a push-push
oscillator that can already provide the second harmonic of the
common local oscillator signal. For deriving the first and the
second RF signal from the multiplied common local oscillator
signal, the radar unit can comprise corresponding filter circuitry
(e.g., low pass, high pass, and/or band pass filters) with pass
bands in the frequency range of the wanted harmonic of the common
local oscillator signal. Deriving the first and the second RF
signal from the multiplied common local oscillator signal can
provide a higher frequency of the first and the second RF signal. A
higher frequency of the first and the second RF signal can reduce
bending losses occurring within the first and the second dielectric
waveguide 110-1, 110-2. Moreover, a higher frequency of the first
and the second RF signal can allow reducing the diameter of the
first and the second dielectric waveguide 110-1, 110-2, which can
facilitate installing the radar system 100 in vehicles, where
installation space may be limited.
[0041] If a lower frequency of the first and the second radar
signal than that of the first and the second RF signal is required,
respective frequency dividers may be employed at the first and the
second antenna element 110-1, 110-2 to reduce the frequency of the
first and the second RF signal. According to an embodiment, the
frequency of the first and the second radar signal is in the
frequency range between 76 GHz and 81 GHz and the frequency of the
first and the second radar signal is between 152 GHz and 162
GHz.
[0042] The first radar signal emitted by the first antenna element
110-1, the second radar signal emitted by the second antenna
element 110-2, and/or a synthesized radar signal constituted (at
least) by the first and the second radar signal emitted
simultaneously by the first and the second antenna element 110-1,
110-2, can be reflected at a target (e.g., a target outside the
vehicle the radar system 100 is installed in). At the target,
portions of the incident radar signal can be reflected into
different directions, for example, back to the first and/or the
second antenna element 110-1, 110-2. The first antenna element
110-1 can be configured to provide a first receive signal to the
radar unit 140. The first receive signal can correspond to a first
portion of the radar signal reflected from the target and incident
at the first antenna element. Additionally, the second antenna
element 110-2 can be configured to simultaneously provide a second
receive signal to the radar unit 140. The second receive signal can
correspond to a second portion of the reflected radar signal
incident at the second antenna element.
[0043] Additionally, the radar unit 140 can be configured to derive
a position and/or speed of the target based on at least the first
and/or the second receive signal.
[0044] By providing a first receive signal from the first antenna
element 110-1 and a second receive signal from the second antenna
element 110-2 to the radar unit 140, the radar unit 140 can receive
more versatile information about the target. For example, the radar
unit 140 can use the first and the second receive signal for
spatial filtering and hence for the suppression of unwanted signals
in the received signals. By receiving the first and the second
receive signal, the radar unit may also determine a direction to
the target by triangulation and/or by direction of arrival
estimation based algorithms, such as MUSIC (Multiple Signal
Classification) and/or ESPRIT (Estimation of Signal Parameter via
Rotational Invariance Technique).
[0045] Moreover, the radar system 100 can further comprise at least
one radar lens configured to focus the first portion of the
reflected radar signal towards the first antenna element 110-1 and
to focus the second portion of the reflected radar signal towards
the second antenna element 110-2. According to an example, the
radar system 100 comprises a first and a second radar lens. The
first radar lens is configured to focus the first portion of the
reflected radar signal towards the first antenna element 110-1. The
second radar lens is configured to focus the second portion of the
reflected radar signal towards the second antenna element 110-2.
Providing radar lenses can increase the receive power at the first
and the second antenna element 110-1, 110-2.
[0046] According to an embodiment, firstly, the first antenna
element 110-1 emits the first radar signal, while the second
antenna element does not emit. The first radar signal can be
reflected at a target. A first portion of the reflected first radar
signal can be received, converted into a first receive signal, and
provided to the radar unit 140 by the first antenna element 110-1.
Additionally, the second antenna element 110-2 can receive a second
portion of the reflected first radar signal, convert it into a
second receive signal, and provide the second receive signal to the
radar unit 140. The radar unit 140 can then derive a position
and/or speed of the target based on (at least) the first and/or the
second receive signal.
[0047] Next, the second antenna element 110-2 can emit the second
radar signal, while the first antenna element does not emit. The
second radar signal can also be reflected at the target. A first
portion of the reflected second radar signal can be received,
converted into a third receive signal, and provided to the radar
unit 140 by the first antenna element 110-1. The second antenna
element 110-2 can receive a second portion of the reflected second
radar signal, convert it into a fourth receive signal, and provide
the fourth receive signal to the radar unit 140. The radar unit 140
can then derive again the position and/or speed of the target based
on the third and the fourth receive signal or based on the first,
second, third, and fourth receive signal (or any combination
thereof).This can enhance the accuracy of the derived position
and/or speed of the target. Moreover, the reliability of target
detection and/or tracking can be enhanced. For example, the target
may provide different radar cross sections to the first and the
second antenna element 110-1, 110-2 because the first and the
second antenna element 110-1, 110-2 can illuminate the target with
radar signals from different positions and hence from different
angles if the first and the second antenna element 110-1, 110-2 are
arranged at different positions (e.g., spaced at least 10 cm, or at
least 50 cm, or at least 1 m, or at least 2 m apart from each
other). Illuminating the target with radar signals from different
angles, can provide in one case or the other higher receive power
at the first and/or the second antenna element 110-1, 110-2.
Furthermore, different velocity components of the target (e.g., one
velocity component towards the first antenna element 110-1 and one
towards the second antenna element 110-2) can be obtained by
illuminating the target first by the first antenna element 110-1
and next by the second antenna element 110-2. In this way, not only
a radial speed of the target, but also the total speed of the
target (and/or the direction of target movement) can be determined
by the radar unit 140.
[0048] In order to provide the first and the second receive signal
to radar unit 140, various options exist. For example, the radar
system 100 can comprise a third dielectric waveguide. The first
antenna element 110-1 can be configured to provide the first
receive signal to the radar unit 140 via the third dielectric
waveguide. The third dielectric waveguide can thus be coupled
between the radar unit 140 and the first antenna element. When the
first antenna element 110-1 comprises a transceive antenna (e.g., a
horn antenna, a rod antenna, or a microstrip antenna) for emitting
the first radar signal and for receiving reflections (or portions
of reflections) of radar signals, the first antenna element 110-1
can comprise a signal splitter configured to provide the first
radar signal from the first dielectric waveguide 130-1 to the
transceive antenna and to provide the received portion of a
reflected radar signal from the transceive antenna to the third
dielectric waveguide. The signal splitter of the first antenna
element can, for example, comprise a directional coupler and/or a
power splitter to couple the transceiver antenna to the first and
the third dielectric waveguide. At the radar unit 140, the third
dielectric waveguide can be coupled to a receiver input port of the
radar unit 140, whereas the first dielectric waveguide can be
coupled to a transmitter output port or a local oscillator output
port of the radar unit 140.
[0049] Additionally and optionally, the radar system 100 can
comprise a fourth dielectric waveguide. The second antenna element
110-2 can be configured to provide the second receive signal to the
radar unit 140 via the fourth dielectric waveguide. Similarly as
explained above for the first antenna element 110-1, the second
antenna element 110-2 can comprise a transceive antenna and a
signal splitter to separate the second radar signal and a received
portion of a reflected radar signal. The fourth dielectric
waveguide can be coupled to another receiver input port of the
radar unit 140. The second dielectric waveguide 130-2 can be
coupled to another transmitter output port or to another local
oscillator output port of the radar unit 140, for example. As an
alternative for two different transmitter or local oscillator
output ports of the radar unit 140, the radar system can comprise a
waveguide power splitter or directional coupler (e.g., a magic tee)
coupled to a transmitter and/or local oscillator output port of the
radar unit 140 and configured to provide the first RF signal to the
first dielectric waveguide 130-1 and the second RF signal to the
second dielectric waveguide 130-2.
[0050] As an alternative for the use of a signal splitter together
with a transceive antenna, the first and/or the second antenna
element 110-1, 110-2, can comprise a respective transmit antenna
configured to emit the respective radar signal and coupled to the
first and/or the second dielectric waveguide, respectively, and a
respective receive antenna configured to receive a portion of a
reflected radar signal and coupled to the third and/or the fourth
dielectric waveguide, respectively.
[0051] Furthermore, it is also possible to use a dielectric
waveguide for bidirectional communication between the radar unit
140 and at least one of the first and the second antenna element
110-1, 110-2. For example, the radar system 100 can further
comprise a signal splitter connected between the second dielectric
waveguide 130-2 and the radar unit 140. The second antenna element
110-2 can be configured to provide the second receive signal to the
radar unit 140 via the second dielectric waveguide 130-2. The
signal splitter can be configured to couple the second receive
signal to the radar unit 140 and can be configured to couple the
second radio frequency signal to the second dielectric
waveguide.
[0052] For example, the signal splitter can be a (dielectric)
waveguide splitter, e.g., a magic tee divider or a directional
coupler in waveguide technology. A common port of the signal
splitter may then be coupled to the second dielectric waveguide
130-2. A first thru port of the signal splitter can be coupled to a
transmitter and/or local oscillator output port of the radar unit
140, while a second thru port of the signal splitter can be coupled
to a receiver input port of the radar unit 140. Alternatively, the
signal splitter can be integrated into the radar unit 140. To this
end, the second dielectric waveguide 130-2 can be coupled to a
(bidirectional) transceiver port of the radar unit 140. The common
port of the signal splitter may then be coupled to the transceiver
port. The first thru port of the signal splitter can be coupled to
a transmitter and/or local oscillator signal path of the radar unit
140, while the second thru port of the signal splitter can be
coupled to a receiver signal path of the radar unit 140. The signal
splitter integrated into the radar unit 140 can be realized in
microstrip technology, for example. Of course, the radar system 100
can comprise more than one signal splitter that can be coupled to
other dielectric waveguides (e.g., the first dielectric waveguide
130-1), so that also other dielectric waveguides can be used for
bidirectional communication between the radar unit 140 and
respective antenna elements (e.g., the first antenna element
110-1).
[0053] A signal splitter can enable bidirectional communication
over a dielectric waveguide. This can reduce the number of
dielectric waveguides of the radar system 100 and hence reduce the
cabling effort and/or installation effort when installing the radar
system 100 in a vehicle.
[0054] In some embodiments, the first antenna element 110-1 can be
configured to mix the first portion of the reflected radar signal
with the first RF signal for providing the first receive signal.
Additionally, the second antenna element 110-2 can be configured
mix the second portion of the reflected radar signal with the
second RF signal for providing the second receive signal. To this
end, the first antenna element 110-1 can comprise a first mixer,
and the first RF signal can drive this first mixer as a local
oscillator. The second antenna element 110-2 can comprise a second
mixer, and the second RF signal can drive this second mixer as a
local oscillator. Because the first and the second RF signal can be
derived from the common local oscillator signal of the radar unit
140 (e.g., be the common local oscillator signal or a harmonic
thereof), phase noise (and/or amplitude noise) contributed by the
first RF signal to the first receive signal can be correlated to
phase noise (and/or amplitude noise) contributed by the second RF
signal to the second receive signal. This can enable the radar unit
140 to perform noise cancellation of phase noise (and/or amplitude
noise) in the first and second receive signal when evaluating the
first and the second receive signal.
[0055] According to some examples, the first antenna element 110-1
can be configured to demodulate the first portion of the reflected
radar signal for providing the first receive signal. Additionally,
the second antenna element 110-2 can be configured to demodulate
the second portion of the reflected radar signal for providing the
second receive signal.
[0056] To demodulate the respective portions of the reflected radar
signal, they may be down-converted. For example, the first antenna
element 110-1 can be configured to down-convert the first portion
of the reflected radar signal using the first RF signal as a local
oscillator. Likewise, the second antenna element 110-2 element can
be configured down-convert the second portion of the reflected
radar signal using the second RF signal as a local oscillator. The
down-converted first portion of the reflected radar signal can then
correspond to (e.g., be) the first receive signal and the
down-converted the second portion of the reflected radar signal can
correspond to (e.g., be) the second receive signal. The first and
the second receive signal can then be on an intermediate frequency
or at baseband. They may then be provided to the radar unit by
respective transmission lines such as respective coaxial cables
and/or twisted wire pair cables. Down-converting the received first
and second portion of the reflected radar signal before providing
the corresponding first and second receive signal to the radar unit
140, can reduce the insertion loss to which the first and the
second receive signal are subjected when traveling to the radar
unit 140. For example, the insertion loss of a coaxial cable and/or
a twisted wire pair cable at an intermediate frequency or baseband
(e.g., at several kilo-Hertz to several Mega-Hertz or to about a
Giga-Hertz) can be lower (e.g., lower by more than 5 dB, or lower
by more than 10 dB) than the insertion loss of a dielectric
waveguide at millimeter wave frequencies (e.g., frequencies larger
than 30 GHz).
[0057] The first and/or the second antenna element may be
configured to provide the first and/or the second down-converted
receive signal, respectively, as analog signals and/or digital
signals to the radar unit 140.
[0058] For example, the first antenna element 110-1 can be
configured to derive first digital data from the demodulated first
portion of the reflected radar signal. The second antenna element
110-2 can be configured to derive second digital data from the
demodulated second portion of the reflected radar signal. The first
and/or the second digital data derived from the respective
demodulated portions of the reflected radar signal, can comprise
information about the target, for example, a distance from the
target to first and/or the second antenna element 110-1, 110-2,
respectively, and/or a speed component of the target in direction
of the first and/or the second antenna element 110-1, 110-2,
respectively. Additionally or alternatively, the first and the
second digital data can comprise frequency information of the
demodulated first and second portion of the reflected radar signal,
respectively. This frequency information can, for example, be
indicative for a distance from the target to the first and/or the
second antenna element 110-1, 110-2, respectively, and/or for a
speed component of the target in direction of the first and/or the
second antenna element, respectively. Additionally or
alternatively, the digital data can comprise phase information of
the demodulated first and second portion of the reflected radar
signal. This phase information can, for example, be indicative for
a direction from the first and/or the second antenna element 110-1,
110-2 to the target, respectively. The derivation of the first and
the second RF signal from the common local oscillator signal of the
radar unit 140 may enable the derivation of phase information from
the demodulated first and/or second portion of the reflected radar
signal. The first and/or the second antenna element 110-1, 110-2
may provide the first and/or the second digital data to the radar
unit 140 via respective additional transmission lines (e.g., via
respective ribbon cables and/or respective twisted wire pair
cables).
[0059] Alternatively, according to some examples, the first antenna
element 110-1 can be configured to derive the first digital data
from the demodulated first portion of the reflected radar signal
and to modulate the first receive signal according to the first
digital data. Additionally, the second antenna element 110-2 can be
configured to derive second digital data from the demodulated
second portion of the reflected radar signal and to modulate the
second receive signal according to the second digital data.
[0060] For example, to modulate the first receive signal, the first
antenna element 110-1 can comprise a first up-conversion mixer.
This first up-conversion mixer may up-convert a baseband signal
corresponding to the first digital data. A local oscillator of the
first up-conversion mixer may be provided by the first RF signal.
The first receive signal may then have a frequency above the cutoff
frequency of the first dielectric waveguide 130-1 (or above that of
the third dielectric waveguide), so that the first receive signal
can be provided (e.g., communicated) to the radar unit 140 via the
first dielectric waveguide (or via the third dielectric waveguide,
respectively).
[0061] Likewise, to modulate the second receive signal, the second
antenna element 110-2 can comprise a second up-conversion mixer.
This second up-conversion mixer may up-convert a baseband signal
corresponding to the second digital data. A local oscillator of the
second up-conversion mixer may be provided by the second RF signal.
The second receive signal may then have a frequency above the
cutoff frequency of the second dielectric waveguide 130-2 (or above
that of the fourth dielectric waveguide), so that the second
receive signal can be provided (e.g., communicated) to the radar
unit 140 via the second dielectric waveguide 130-2 (or via the
fourth dielectric waveguide, respectively).
[0062] The communication of the first and/or the second receive
signal (containing the first and second digital data, respectively,
or being analog signals) via dielectric waveguides to the radar
unit 140 can be more robust against interfering signals than a
communication at intermediate or baseband frequencies. For example,
interfering signals may have frequencies below the cutoff frequency
of the dielectric waveguides and may hence be strongly attenuated
if they might couple into a dielectric waveguide. Furthermore,
communication of the first and/or the second receive signal via
dielectric waveguides can reduce the cabling effort and/or the
installation effort of the radar system 100 inside a vehicle.
[0063] According to some embodiments, the first antenna element
110-1 can be configured to up-convert the first portion of the
reflected radar signal. Additionally, the second antenna element
110-2 can be configured up-convert the second portion of the
reflected radar signal. For the up-conversion the first and the
second antenna elements may employ respective up-conversion mixers
driven, for instance, by local oscillator signals derived from the
first and the second RF signal, respectively. The first receive
signal may then correspond to (e.g., be) the up-converted first
portion of the reflected radar signal. The first antenna element
110-1 may then provide the first receive signal via the first
dielectric waveguide 130-1 (or via the optional third dielectric
waveguide) to the radar unit 140. The second receive signal may
correspond to (e.g., be) the up-converted second portion of the
reflected radar signal. The second antenna element 110-1 may then
provide the second receive signal via the second dielectric
waveguide 130-2 (or via the optional fourth dielectric waveguide)
to the radar unit 140. Due to the increased frequency of the first
and the second receive signal after the upconversion, the first and
the second receive signal may be subjected to reduced bending
losses of the dielectric waveguides when traveling to the radar
unit 140.
[0064] According to some examples, the first and the second antenna
element 110-1, 110-2 constitute at least a part of an antenna
array. This can enable the first and the second antenna element
110-1, 110-2 to synthesize a radar signal and to control a
direction of emission of the synthesized radar signal.
Additionally, by aid of an antenna array a direction of arrival of
a radar signal (e.g., the synthesized radar signal) reflected from
a target and hence a direction towards the target can be
determined. If the radar system 100 comprises more than two antenna
elements, additional antenna elements of the radar system 100 can
be integrated into the antenna array. Furthermore, the antenna
array may be a linear array or a two dimensional array. The antenna
array may be a uniform array (e.g., comprising antennas spaced
about half a wavelength of the emitted radar signal apart from each
other) or may be a thinned antenna array (e.g., comprising antennas
spaced in irregular distances apart from each other).
[0065] Each antenna element (e.g., the first and/or the second
antenna element 110-1, 110-2) may also in itself comprise an
antenna array. The antenna arrays of the antenna elements may be
sub arrays of an antenna array formed by the antenna elements of
the radar system 100 or may be independent antenna arrays. The
latter may enable each antenna element to independently control a
direction of emission of a respective radar signal from itself
and/or to determine a direction of arrival of a portion of a
reflected radar signal incident to itself.
[0066] The radar unit 140 can comprise at least one antenna (e.g.,
a transmit antenna, a receive antenna, and/or a transceive antenna)
being an element of the antenna array. By providing transmit,
receive, and/or transceive antennas (or pluralities thereof) to the
radar unit 140 and including these antennas as elements in the
antenna array, the number of antenna elements connected via
dielectric waveguides to the radar unit may be reduced. This can
decrease the power consumption of the radar system 100.
[0067] Alternatively, if the radar system 100 comprises only one
antenna element (e.g., the first antenna element 110-1), the radar
unit can comprise at least one transmit antenna and at least one
receive antenna (or at least one transceive antenna) and form an
antenna array together with at least one transmit antenna and at
least one receive antenna (or at least one combined transceive
antenna) of the first antenna element 110-1.
[0068] According to some examples, the radar unit 140 can comprise
a first and a second coupling antenna. The first coupling antenna
can be coupled to the first dielectric waveguide. The second
coupling antenna can be coupled to the second dielectric waveguide.
In this way, the first and the second coupling antenna may provide
means for connecting the first and the second dielectric waveguide
to the radar unit 140, respectively. For example, the first
coupling antenna may provide the first RF signal to the first
dielectric waveguide and/or may couple the first receive signal
from the first dielectric waveguide 130-1 to the radar unit 140.
Likewise, the second coupling antenna may provide the second RF
signal to the second dielectric waveguide 130-2 and/or may couple
the second receive signal from the second dielectric waveguide
130-2 to the radar unit 140. Of course, additional optional
dielectric waveguides of the radar system 100 (e.g., the third
and/or fourth dielectric waveguide) can be coupled via additional
coupling antennas of the radar unit 140 to the radar unit 140.
Coupling antennas may reduce the insertion losses to which the
first/or and the second RF signal, and/or the first and/or the
second receive signal are subjected to when leaving and/or entering
the radar unit 140, respectively.
[0069] In case the radar system 100 comprises only one antenna
element and only one dielectric waveguide, the radar unit 140 may
comprise at least one coupling antenna for connecting the
dielectric waveguide.
[0070] For example, the coupling antennas can be microstrip
antennas such as patch antennas, dipole antennas, monopole
antennas, slot antennas, and/or frame antennas in microstrip
technology. A face side of a respective dielectric waveguide may be
attached (e.g., glued or held by a fixture) to a respective
coupling antenna. A dielectric layer (e.g., constituted by the glue
or by a coating material) may be located between the face side of
the respective dielectric waveguide and the respective coupling
antenna. This dielectric layer may support transforming an
electromagnetic field of the coupling antenna into the field of a
propagable mode in the dielectric waveguide (or vice versa).
[0071] In some embodiments, the radar unit can comprise an
integrated radar circuit. The first and the second coupling antenna
(and optional additional coupling antennas) can be integrated in
the integrated radar circuit. This can further reduce the insertion
losses to which the first/or and the second RF signal, and/or the
first and/or the second receive signal are subjected to when
leaving and/or entering the radar unit 140, respectively.
[0072] The radar unit 140 (e.g., the integrated radar circuit) can
comprise analog, mixed signal and/or digital signal processing
circuitry. For example, the radar unit 140 can comprise a tunable
local oscillator (e.g., a voltage controlled oscillated together
with a phase locked loop circuit) for providing the common local
oscillator signal and/or may comprise one or more transmit signal
paths for phase coherently generating the first and/or the second
RF signal. The one or more transmit signal paths can comprise
amplification circuitry, mixing, filtering and/or matching
circuitry and/or digital-to-analog conversion circuitry, for
example. Furthermore, the radar unit 140 can comprise one or more
receive signal paths for receiving the first and/or the second
receive signal. The one or more receive signal paths can comprise
low-noise-amplifier circuitry, mixing, filtering and/or matching
circuitry and/or analog-to-digital conversion circuitry. The radar
unit 140 may comprise digital circuitry (e.g., integrated into the
integrated radar circuit or at least parts of a digital signal
processor, a microcontroller, a field-programmable gate array, an
application specific integrated circuit, and/or a central
processing unit). This digital circuitry can, for example, be
employed for deriving a position and/or speed of a target and/or
for modulating the common local oscillator signal and/or the first
and/or the second RF signal. In other words, the radar unit 140 can
be a radar transceiver.
[0073] The radar unit 140 may be realized as an integrated circuit
mounted on a printed circuit board and/or may be realized by
various components mounted on a printed circuit board, for example.
Moreover, the radar unit 140 may be shielded by a shielded housing
to be protected against interfering signals, electrostatic
discharge and/or environmental influences such as low and/or high
temperatures and/or moisture. Dielectric waveguides of the radar
system may be fed through a compartment wall (or compartment walls)
of the shielded housing.
[0074] Dielectric waveguides (e.g., the first and/or the second
dielectric waveguide 110-1, 110-2) of the radar system may be solid
and/or hollow waveguides. Solid dielectric waveguides may comprise
a core (and additionally a coat around the core) out of a polymeric
material. The core and the optional coat may have different
dielectric constants. Hollow dielectric waveguides may comprise an
air core that is surrounded by a polymeric coat. Furthermore,
according to some examples, dielectric waveguides may be
additionally coated by conductive materials (such as copper,
aluminum, iron, silver, gold, and/or alloys thereof).
[0075] Antenna elements (e.g., the first and/or the second antenna
element 110-1, 110-2) of the radar system 100 can be active or
passive devices. Circuitry of the antenna elements described within
the scope of this disclosure may be integrated into respective
integrated circuits of the antenna elements and/or may be realized
on printed circuit board level. For example, each antenna element
may comprise a respective circuit board with signal processing
circuitry for transmitting radar signals and/or receiving
reflections of radar signals.
[0076] The outer shell of the vehicle can comprise a body shell, a
bumper, a windscreen, a rear window, an exterior mirror, a trunk,
etc. of the vehicle. For installation of the antenna element(s)
(and optionally the radar unit 140) at the outer shell, the radar
system 100 may comprise means for mounting (e.g., fixtures,
muffles, screws, flanges, etc.). Herein, the formulation
"installable at the outer shell of the vehicle" refers to the
antenna elements (e.g., the first and/or the second antenna element
110-1, 110-2 and optionally additionally the radar unit 140) being
installable in a proximity of the outer shell (e.g., a maximum
distance from any of the antenna elements and optionally the radar
unit 140 to the outer shell may be shorter than 30 cm, or shorter
than 15 cm, or shorter than 5 cm, or shorter than 1 cm) and/or
being installable on the inside and/or on the outside of the outer
shell. For example, the antenna elements can be installable inside
the outer shell at some distance from the outer shell. The outer
shell may additionally comprise one or more openings, one or more
radar transparent windows and/or one or more lenses (e.g., radar
lenses) for allowing an emission of radar signals from the antenna
elements and optionally the radar unit 140 through the outer shell.
According to an embodiment, the antenna elements are implemented as
open ends of their respective dielectric waveguides and are
installable inside a bumper of the vehicle. In particular, the open
ends of the dielectric waveguides can be installable in respective
openings inside the bumper and/or can be installable behind
respective radar transparent windows and/or respective radar
lenses. The radar transparent windows and/or radar lenses can be
arranged in the bumper.
[0077] FIG. 2 shows a block diagram of a vehicle 200. The vehicle
200 comprises a plurality of radar radio heads 110-1, 110-2
arranged at an outer shell 201 of the vehicle 200. Furthermore, the
vehicle comprises a plurality of waveguides 130-1, 130-2.
Furthermore, the vehicle 200 comprises a radar circuit 140. The
radar circuit 140 is configured to generate a common local
oscillator signal and is configured to simultaneously provide
respective radio frequency signals derived from the common local
oscillator signal to the plurality of radar radio heads 110-1,
110-2 via the plurality of waveguides 130-1, 130-2.
[0078] At least one waveguide may connect each radar radio head to
the radar circuit 140. This way, the radar circuit 140 can provide
a respective RF signal to each radar radio head via a respective
waveguide.
[0079] The vehicle 200 equipped with a radar system comprising the
radar circuit 140, the plurality of waveguides 130-1, 130-2, and
the plurality of radar radio heads 110-1, 110-2, may employ the
radar system for the detection and/or tracking of targets outside
the vehicle 200. Targets outside the vehicle 200 can, for instance,
be obstacles, other vehicles, pedestrians and/or animals. The
detection of targets can provide a higher driving safety as well as
a higher comfort for a driver and/or passengers of the vehicle. For
example, the radar system may also be employed for a parking assist
system and/or for autonomous driving functions. The plurality of
radar radio heads 110-1, 110-2 connected to the radar circuit 140
via the plurality of waveguides 130-1, 130-2 can make the detection
and/or tracking of targets more accurate and/or more reliable and
hence increase driving safety and/or the accuracy of parking assist
systems and/or autonomous driving functions. Moreover, the radar
circuit 140 being connected with each of the radar radio heads at
the outer shell 201 of the vehicle 200 can avoid providing a
dedicated, independent radar transceiver at the locations of each
radar radio head. This can reduce costs of the radar system and
thus of the vehicle 200.
[0080] Each of the plurality of radar radio heads 110-1, 110-2 can
comprise an antenna. A maximum angle between two antenna main lobes
of any of the antennas of the radar radio heads can be less than 20
degree (or less than 10 degree, or less than five degree). In other
words, the antennas of the radar radio heads may substantially
point into the same direction away from the vehicle. For example,
the radar radio heads may be located at the front, the rear, the
left side, or the right side of the vehicle 200. A respective
antenna of a respective radar radio head can, for instance, be a
horn antenna coupled to the waveguide connected to the radar radio
head or can be a microstrip antenna located on a circuit board or
an integrated circuit of the radar radio head. The antenna of the
radar radio head can also be a rod antenna such as a dipole or
monopole antenna, or a frame antenna, loop antenna or any other
kind of electrically conductive structure configured for emission
and/or reception of electromagnetic waves. For example, the antenna
of a radar radio head can also be an antenna array. The direction
of the main lobe of an antenna array can be defined as
perpendicular to the antenna array for a broadside array or as in
parallel (or in direction) of the antenna array for an end fire
array. By orienting the main lobes of the antennas of the radar
radio heads into substantially the same direction (e.g., within a
cone of 20 degree) the plurality of radar radio heads 110-1, 110-2
can be employed for determining a direction towards a target
outside the vehicle. For example, the plurality of radar radio
heads may be used for triangulation and/or other direction of
arrival estimation based algorithms.
[0081] The plurality of radar radio heads 110-1, 110-2 can be
installed at a bumper (e.g., a front bumper or a rear bumper) of
the vehicle, for example. For example, the plurality of radar radio
heads 110-1, 110-2 may be located inside a bumper and be configured
to emit radar signals and/or receive reflection of radar signals
through the bumper. For example, the bumper may comprise dielectric
material permeable for radar signals in the frequency range of the
radar system. To this end, a thickness of the bumper may be half a
wavelength or a multiple of half a wavelength of the radar signals.
Alternatively, the bumper may comprise openings covered by radar
lenses. Antennas of the radar radio heads can then be arranged
inside the bumper and behind the radar lenses. Alternatively, patch
antennas, horn antennas and/or antennas implemented as open ends of
dielectric waveguides of the radar radio heads can be arranged
inside openings of the bumper. Yet another alternative is to
realized the antennas of the remote radio heads as microstrip
antennas and to integrate them into polymeric material of the
bumper and/or onto a polymeric surface of the bumper (e.g., onto
the inside or outside surface of the bumper). By installing the
plurality of radar radio heads 110-1, 110-2 at a bumper of the
vehicle, it can be avoided that other parts of the vehicle may pose
an obstacle for the emission of radar signal and/or the reception
of reflected radar signals by the plurality of radar radio heads
110-1, 110-2.
[0082] According to some examples, a minimum distance between any
of the radar radio heads can be larger than 5 cm (or larger than 10
cm, or larger than 25 cm, or larger than 50 cm, or larger than 1
m). Spacing the radar radio heads further apart from each other can
facilitate employing the radar radio heads for triangulation in
order to determine a direction from the vehicle 200 towards a
target outside the vehicle 200. A maximum distance between any of
the radar radio heads can be smaller than 3 m (or smaller than 2.55
m, or smaller than 1 m).
[0083] For example, at least one of the plurality of radar radio
heads 110-1, 110-2 can be configured to transmit a radar signal
towards a target outside the vehicle. Additionally, each of the
radar radio heads 110-1, 110-2 can be configured to simultaneously
receive a respective portion of a reflection of the radar signal
from the target. In other words, firstly at least one of the
plurality of radar radio heads 110-1, 110-2 may transmit a radar
signal towards a suspected target. If the target is present, the
radar signal may be reflected at the target and scattered into
different direction, amongst others, also in the direction of the
plurality of radar radio heads 110-1, 110-2. The radar radio heads
may then substantially simultaneously receive portions of the
reflected radar signal.
[0084] The transmitted radar signal can correspond to an RF signal
derived from the common local oscillator and provided to the
transmitting radar radio head by the radar circuit 140. For
example, the transmitting radar radio head may modulate the RF
signal to generate the transmitted radar signal. For instance, the
transmitting radar radio head may modulate the amplitude of the RF
signal to operate according to the principles of a pulse radar.
Additionally or alternatively, the transmitting radar radio head
may modulate the frequency of the RF signal to operate according to
the principles of an FMCW radar. In yet another alternative, the
radar circuit 140 may provide a frequency modulated (e.g., a
linearly chirped) local oscillator signal (or a harmonic thereof)
to the transmitting radar radio head. This frequency modulated
local oscillator signal (or the harmonic thereof) can then
correspond to (e.g., be) the RF signal provided to the transmitting
radar radio head. The transmitting radar radio head may emit the RF
signal via an antenna (or an antenna array) towards the target.
Before emission, the radar radio head may be configured to amplify
and/or to filter the RF signal. Of course, also several or all of
the radar radio heads may simultaneously transmit radar signals
corresponding to respective RF signals provided to the transmitting
radar radio heads by the radar circuit 140. In this way, the
transmitting radar radio heads may commonly synthesize a radar
signal. By adjusting the phase of the individual radar signals (or
RF signals) at the respective transmitting radar radio heads or at
the radar circuit 140, a direction of emission of the synthesized
radar signal can be controlled.
[0085] Each of the radar radio heads can be configured to mix the
respective received portion of the reflection (of the transmitted
radar signal) with a respective RF signal derived from the common
local oscillator signal. For example, the transmitted radar signal
may correspond to a frequency modulated local oscillator signal (or
a harmonic thereof) of the radar circuit 140. The respective RF
signals used for mixing upon reception can also correspond to the
frequency modulated local oscillator signal (or the harmonic
thereof). Due to the propagation time of the transmitted radar
signal to the target and the propagation times of the reflected
portions of the radar signal back to the radar radio heads, there
can be a frequency difference between the respective RF signals
used for mixing and the received reflected portions. Mixing the
reflected portions of the radar signal with the RF signals can then
yield respective receive signals having a frequency corresponding
(e.g., being equal) to the frequency differences between the
reflected portions of the radar signal and the RF signals. At each
radar radio head a respective receive signal may be provided by the
described mixing process. The frequency of a respective receive
signal can be indicative for the distance from the respective radar
radio head to the target and/or for a radial speed component of the
target towards (or away from) the respective radar radio head.
Because the respective RF signals are derived from the common local
oscillator signal, the phase noise (and/or amplitude noise) added
to the receive signals when mixing the respective reflected
portions of the radar signal with the respective RF signals may be
correlated in the receive signals provided by the radar radio
heads. The radar circuit 140 may thus be configured to remove this
correlate noise in the receive signals by applying noise
cancellation algorithms This can improve the noise figure of the
radar system of the vehicle 200 and hence improve the sensitivity,
accuracy and/or reliability of the radar system. Alternatively,
this can enable using more value priced electronic components for
the radar system.
[0086] The principles explained above in the context of an FMCW
radar system can be transferred to a pulse radar system without
leaving the scope of the present disclosure.
[0087] In general, each of the radar radio heads 110-1, 110-2 can
be configured to provide a respective receive signal to the radar
circuit 140 via a respective waveguide 130-1, 130-2. The respective
receive signal can correspond to a respective received portion of
the reflected radar signal. The radar circuit 140 can be configured
to derive at least one of a position and speed of the target based
on at least the receive signals.
[0088] For example, each radar radio head may (just) forward its
received respective portion of the reflected radar signal without
mixing and provide it as a respective receive signal to the radar
circuit 140. For example, the receive signals may be provided to
the radar circuit 140 at microwave and/or millimeter wave
frequencies that can be above the cutoff frequency of the plurality
of waveguides. Additionally, a respective radar radio head can be
configured to amplify (e.g., by a respective low noise amplifier)
and/or to filter the received respective portion of the reflected
radar signal. In other words, a respective receive signal can be an
amplified and/or filtered and/or frequency converted version of a
corresponding received reflected portion of the radar signal.
[0089] As described for the antenna elements of the radar system
100 of FIG. 1, a respective radar radio head can be configured to
derive digital data from its respective received portion of the
reflected radar signal. The digital data can contain target related
information (e.g., a distance to or a radial speed of the target or
information from which the distance and/or the speed are
derivable). The respective radar radio head can be configured to
up-convert this digital data to a carrier frequency propagable
across the respective waveguide connecting the radar radio head to
the radar circuit 140 and thus provide the digital data via the
waveguide to the radar circuit 140.
[0090] Moreover, a radar radio head can be configured to up-convert
its respective received portion of the reflected radar signal
without deriving digital data from it. For example, the radar radio
head can be configured to up-convert to a frequency about twice (or
any integer multiple) of the frequency of the transmitted radar
signal or of the common local oscillator signal. The respective
receive signal can then correspond to (e.g., be) the up-converted
respective received portion of the reflected radar signal. The
respective receive signal may then be subjected to lower bending
losses of the waveguide due to its increased frequency.
[0091] The radar circuit 140 may be configured to combine the
receive signals provided by the plurality of radar radio heads
110-1, 110-2, and to derive a position, a speed, a size, a
geometrical structure, a category of the target from (at least) the
receive signals. For example, the radar circuit 140 may be
configured to recognize the target as another vehicle, as a fixed,
stationary obstacle, as a pedestrian, a cyclist, or an animal.
While combining the receive signals provided by the plurality of
radar radio heads 110-1, 110-2, the radar circuit 140 may be
configured to cancel correlated noise in the receive signals.
[0092] Furthermore, the radar circuit 140 can comprise an antenna
and can be configured for transmitting a radar signal towards a
target outside the vehicle and/or receiving a portion of a
reflection of a radar signal from a target outside the vehicle via
the antenna. In other words, the radar circuit 140 can comprise the
functionality (or parts thereof) of a radar radio head. This can
reduce the number of radar radio heads of the radar system and/or
can increase the angular (or range) resolution of the radar system
of the vehicle 200. The antenna of the radar circuit 140 can also
be an antenna array. To this end, the radar circuit 140 may be
installed at the outer shell 201 of the vehicle 200.
[0093] The plurality of waveguides 130-1, 130-2 can comprise
metallic and or dielectric waveguides, such as metallic hollow
waveguides or metallic waveguides filled (or partially filled) with
a dielectric. Metallic waveguides may, for example, comprise
copper, aluminum, iron, silver, gold, and/or alloys thereof. In an
example, each of the plurality of waveguides 130-1, 130-2 is a
dielectric waveguide, which can be less expensive than metallic
waveguides. The waveguides can be connected to the radar circuit 10
and to the radar radio heads by the means described in context of
the radar system 100 of FIG. 1. For example, the radar circuit 140
and/or the radar radio heads may comprise respective coupling
antennas to couple RF signals into and/or out of the
waveguides.
[0094] According to some examples, at least one of the plurality of
waveguides 130-1, 130-2 comprises a first and second dielectric
waveguide section. The first dielectric waveguide section is
connected to the second dielectric waveguide section by a
conductive sleeve. The conductive sleeve can, for example, be
wrapped around a joint of the first and the second dielectric
waveguide and can comprise conductive metals such as copper and/or
aluminum. The conductive sleeve may also be constituted by a feed
through a shielded housing of the radar circuit 140. For example,
the first dielectric waveguide section may extend inside the
shielded housing from the radar circuit 140 to the feed in a
compartment wall of the shielded housing and the second dielectric
waveguide section may extend from the feed to a radar radio head.
Also, more than one radar radio head may be connected to the radar
circuit 140 in the described way. Constructing a waveguide (or
waveguides) from two or more connectable and disconnectable
dielectric waveguide sections can facilitate installing the radar
system inside the vehicle 200 and can facilitate maintenance and/or
repairs of the radar system.
[0095] In some embodiments, at least one of the plurality of
waveguides 110-1, 110-2 can be foam-padded (or at least partially
foam-padded). Foam-padding of a waveguide can prevent the waveguide
from touching other (metallic) parts of the vehicle which could
increase the insertion loss of the waveguide or degrade the
matching of the waveguide to the radar circuit 140 or the
respective radar radio head. The foam-padding can comprise solid
polymeric material such as polystyrene, polyurethane, and/or
polyethylene terephthalate, for example.
[0096] More details and aspects are mentioned in connection with
the embodiments described above or below. The embodiment of the
vehicle 200 shown in FIG. 2 may comprise one or more optional
additional features corresponding to one or more aspects mentioned
in connection with the proposed concept or one or more embodiments
described in the context of the radar system 100 of FIG. 1. For
example, the radar circuit 140 of the vehicle 200 may correspond to
the radar unit 140 of the radar system 100 of FIG. 1. Radar radio
heads of the vehicle 200 may comprise features and/or perform
functions of the antenna elements 110-1, 110-2 of the radar system
100 of FIG. 1 (or vice versa).
[0097] For example, the vehicle 200 can be a car, a truck, a
motorbike, a train, an airplane, a boat, a ship, and/or a remote
controlled vehicle such as a robot, a drone, and/or a toy.
[0098] FIG. 3 shows block diagram of a radar system 300 for a
vehicle according to an embodiment. The radar system 300 comprises
a radar unit 140. The radar unit 140 is coupled to a first, second,
and third antenna element 110-1, 110-2, 110-3 via respective
waveguides. The first, second, and third antenna element 110-1,
110-2, 110-3 are installed at the outside surface of a bumper of
the vehicle. The first, second, and third antenna element 110-1,
110-2, 110-3 are installed next to each other and separated by some
distance (e.g., a distance larger than 5 cm).
[0099] At one end, a first waveguide 130-1 is connected to the
first antenna element 110-1 (e.g., to a transmit antenna of the
first antenna element 110-1). At the other end, the first waveguide
130-1 is coupled to a first coupling antenna 141-1 of the radar
unit 140. The first coupling antenna 141-1 is connected to a first
transmitter and/or local oscillator output port of the radar unit
140. The radar unit 140 can couple a first RF signal via the first
coupling antenna 141-1 to the first waveguide 130-1 and provide it
via the first waveguide 130-1 to the first antenna element 110-1. A
first receive signal of the first antenna element 110-1 can be
provided to the radar unit 140 via a second waveguide 130-2. At one
end, the second waveguide 130-2 is connected to the first antenna
element 110-1 (e.g., to a receive antenna of the first antenna
element 110-1). At the other end, the second waveguide 130-2 is
coupled to a second coupling antenna 141-2 of the radar unit 140.
The second coupling antenna 141-2 is connected to a first receiver
input port of the radar unit 140.
[0100] In contrast to the first antenna element 110-1, the second
antenna element 110-2 is connected by only one waveguide, the third
waveguide 130-3, to the radar unit 140. At one end, the third
waveguide 130-3 is connected to the second antenna element 110-2
(e.g., to a transceive antenna of the second antenna element
110-2). At the other end, the third waveguide 130-3 is connected to
a (first) signal splitter 144-1. The radar unit 140 can provide a
second RF signal via a third coupling antenna (that is connected to
a second transmitter and/or local oscillator output port of the
radar unit 140) and via the signal splitter 144-1 to the third
waveguide 130-3 and via the third waveguide 130-3 to the second
antenna element 110-2. The second antenna element 110-2 can provide
a second receive signal via the third waveguide 130-3, the signal
splitter 144-1 and a fourth coupling antenna 141-4 (that is
connected to a second receiver input port of the radar unit 140) to
the radar unit 140.
[0101] The third antenna element 110-3 (e.g., a transceive antenna
of the third antenna element 110-3) is also connected by just one
waveguide, the fourth waveguide 130-4, to a fifth coupling antenna
141-5 of the radar unit 140. The fifth coupling antenna 141-5 is
connected to a common port of another (second) signal splitter
144-2. This signal splitter 144-2 is integrated into the radar unit
140. A first thru-port of the signal splitter 144-2 can be
connected to a transmit or local oscillator path of the radar unit
140 for providing a third RF signal from the radar unit 140 to the
third antenna element 110-3. A second thru-port of the signal
splitter 144-2 can be connected to a receiver signal path of the
radar unit 140. In this way, a third receive signal can be provided
via the fourth waveguide 130-4 by the third antenna element 110-3
to the radar unit 140.
[0102] As shown in FIG. 3, the first antenna element 110-1 is
transmitting a (first) radar signal 150 towards a target 304 (e.g.,
an obstacle). The radar signal 150 is scattered at the target 304,
so that a first portion 152-1 of the radar signal 150 is reflected
back to the first antenna element 110-1. Furthermore, a second
portion 152-2 of the radar signal 150 is reflected back to the
second antenna element 110-2, and a third portion 152-3 of the
radar signal 150 is reflected back to the third antenna element
110-3. The first, second, and third antenna element 110-1, 110-2,
110-3 can then simultaneously receive the respective portions
152-1, 152-2, 152-3 of the reflected radar signal 150.
Corresponding to the respective portions of the reflected radar
signal 150, the first antenna element 110-1 can provide the first
receive signal via the second waveguide 130-2 to the radar unit
140, the second antenna element 110-2 can provide the second
receive signal via the third waveguide 130-3 to the radar unit 140,
and the third antenna element 110-3 can provide the third receive
signal via the fourth waveguide 130-4 to the radar unit 140. Based
on at least the first, second, and third receive signal (and e.g.
optionally on the common local oscillator signal) the radar unit
140 can determine a position (e.g., by triangulation) and/or a
speed of the target 304.
[0103] Afterwards, the second antenna element 110-2 may transmit a
second radar signal (and/or the third antenna element 110-3 may
transmit a third radar signal, respectively). The first, second,
and third antenna element 110-1, 110-2, 110-3 may then
simultaneously receive respective portions of the reflected second
radar signal (and/or of the reflected third radar signal,
respectively).
[0104] For example, FIG. 3 shows distributing radar signals over
waveguides (e.g. plastic fibers or hollow metal waveguides) to
different positions in the bumper 302. The radar signal can be
emitted at the end (e.g., at the antenna elements) of the fiber and
reflected radar signals from the target 304 can be received with
the same waveguide and/or with a different one. The received
signal(s) can be lead through the waveguide (or waveguides) back to
the radar transceiver (e.g. the radar unit 140).
[0105] Examples with one or two fibers (e.g., dielectric
waveguides) are shown in FIG. 3. Different locations of the
splitters (e.g., signal splitters 144-1, 114-2) for the separation
of transmitted and received signals are shown as well, e.g. between
the (coupling) antennas and the fiber or being part of the
electronic subsequent to a single transmit/receive antenna (e.g.,
the fifth coupling antenna 141-5).
[0106] Furthermore, radar lenses may be used to increase the amount
of received energy of the reflected wave and focus it towards the
waveguide (e.g., the waveguides 130-1, 130-2, 130-3).
[0107] The same concept may be used for different applications of
radar environments object detection in a limited range (e.g., a
range smaller than 5 m) as well. An example for industrial or
consumer use could be collision avoidance for any kind of robots
and/or drones.
[0108] More details and aspects are mentioned in connection with
the embodiments described above or below. The embodiment shown in
FIG. 3 may comprise one or more optional additional features
corresponding to one or more aspects mentioned in connection with
the proposed concept or one or more embodiments described above
(e.g. FIGS. 1-2) or below (e.g. FIGS. 4-5).
[0109] FIG. 4 shows block diagram of a radar system 400 for a
vehicle according to another embodiment. The radar system 400 may
be similar to the radar system 300 of FIG. 3.
[0110] The radar system 300 comprises a radar circuit 140 as well
as a first, second, and third radar radio head 110-1, 110-2, 110-3
installed in a bumper of the vehicle. The first, second, and third
radar radio head 110-1, 110-2, 110-3 are connected via respective
waveguides to the radar circuit 140. The first, second, and third
radar radio head 110-1, 110-2, 110-3 can comprise additional signal
processing circuitry, for example, respective mixers driven by
respective RF signals derived from a common local oscillator signal
generated by the radar circuit 140 and provided via the respective
waveguides to the radar radio heads 110-1, 110-2, 110-3.
[0111] For example, a first RF signal derived from the common local
oscillator signal can be provided via a first waveguide 130-1 from
the radar circuit 140 to the first radar radio head 110-1. The
first RF signal may be coupled to the first radar radio head 110-1
via a sixth coupling antenna 141-6 of the first radar radio head
110-1. Furthermore, the first radar radio head 110-1 can comprise a
seventh coupling antenna 141-7 to couple a (first) receive signal
into a second waveguide 130-2 and provide the receive signal via
the second waveguide 130-2 to the radar circuit 140. Moreover, the
first radar radio head 110-1 comprises a first antenna array 112-1
to emit a (first) radar signal and/or to receive a reflection of a
radar signal emitted from the radar system 400.
[0112] A second RF signal also derived from the common local
oscillator signal can be provided via a third waveguide 130-3 from
the radar circuit 140 to the second radar radio head 110-2. The
second radar radio head 110-2 can provided a (second) receive
signal via the same third waveguide 130-3 to the radar circuit 140.
To this end, another (third) signal splitter can be attached to the
end of the third waveguide at the second radar radio head 110-2.
This signal splitter 144-3 can provide the second RF signal from
the third waveguide 130-3 to an eighth coupling antenna 141-8 of
the second radar radio head 110-2. The second radar radio head
110-2 may provide the second receive signal via a ninth coupling
antenna and the signal splitter 144-3 to the third waveguide 130-3.
Moreover, the second radar radio head 110-2 comprises a second
antenna array 112-2 to emit a (second) radar signal and/or to
receive a reflection of a radar signal emitted from the radar
system 400.
[0113] A third RF signal also derived from the common local
oscillator signal can be provided via a fourth waveguide 130-4 from
the radar circuit 140 to the third radar radio head 110-3. The
third radar radio head 110-3 can provide a (third) receive signal
via the same fourth waveguide 130-4 to the radar circuit 140. To
this end, the fourth waveguide 130-4 can be coupled to a tenth
coupling antenna 141-10 of the third radar radio head 110-3. The
third radar radio head 110-3 may comprise a (fourth) signal
splitter 144-4. Via this signal splitter 144-4, the third RF signal
can be provided to the third radar radio head 110-3 and the third
receive signal can be provided to the fourth waveguide 130-4 and
eventually to the radar circuit 140. Moreover, the third radar
radio head 110-3 comprises a third antenna array 112-3 to emit a
(third) radar signal and/or to receive a reflection of a radar
signal emitted from the radar system 400.
[0114] The connections of the first, second, third, and fourth
waveguide 130-1, 130-2, 130-3, 130-4 to the radar circuit 140 can
be made as explained in the context of FIG. 3, for example.
[0115] According to FIG. 4, the (common) local oscillator signal of
a single master (e.g., the radar circuit 140) can be distributed to
multiple slaves (e.g., the first, second, and third radar radio
head 110-1, 110-2, 110-3) at different locations. In order to avoid
extreme pulse dispersion effects on a transmission line that uses a
conductor, the signal (e.g., the common local oscillator signal) is
distributed directly as a radar signal in the intended frequency
range (e.g., between 76 GHz and 81 GHz) or even on a higher
harmonic frequency (e.g., between 152 GHz and 162 GHz) to reduce
the dimensions of the fiber (e.g., of the first, second, third, and
fourth waveguide 130-1, 130-2, 130-3, 130-4) and decrease its
bending losses.
[0116] The fibers (e.g., the second, third, and fourth waveguide
130-2, 130-3, 130-4) can also be used as communication channels to
deliver preprocessed data (e.g., digital data) of each local radar
slave (e.g., each radar radio head) back to the system master
(e.g., the radar circuit 140). The duplex operation can be
implemented using different fibers for either direction or using a
single fiber in combination with splitters that separate the
signals for the different directions, for example.
[0117] Obtaining the local oscillator signal from one single source
(e.g., from the radar circuit 140) can make the transmitters and
receivers (e.g., the radar radio heads) operate in a coherent way.
This way, the same phase noise representation can be used on all
channels. The resulting suppression of phase noise in the
down-converted received signal due to LO signal correlation can
improve overall radar system performance
[0118] Embodiments with 1 or 2 fibers (e.g., waveguides) are shown
in FIG. 4. Different locations of the splitters (e.g., the signal
splitters 144-1, 144-2, 144-3, 144-4) for the separation of
transmitted and received signals are shown as well, e.g. between
the (coupling) antennas and the fiber (e.g., a waveguide) or being
part of the electronic subsequent to a single transmit/receive
antenna (e.g., the fifth and tenth coupling antenna 141-5, 141-10).
Furthermore, the master transceiver (e.g., the radar circuit 140)
might be combined with one of the slaves (e.g., a radar radio head)
and may operate as radar transceiver itself.
[0119] More details and aspects are mentioned in connection with
the embodiments described above or below. The embodiment shown in
FIG. 4 may comprise one or more optional additional features
corresponding to one or more aspects mentioned in connection with
the proposed concept or one or more embodiments described above
(e.g. FIGS. 1-3) or below (e.g. FIG. 5).
[0120] FIG. 5 shows a flow chart of a method 500 for operating a
radar system of a vehicle. The method 500 comprises generating 510
a common local oscillator signal with a radar unit of the vehicle.
Furthermore, the method 500 comprises deriving 520 a phase coherent
first and second radio frequency signal from the common local
oscillator signal. Furthermore, the method 500 comprises providing
530 simultaneously the first radio frequency signal to a first
antenna element of the vehicle via a first dielectric waveguide and
the second radio frequency signal to a second antenna element of
the vehicle via a second dielectric waveguide.
[0121] Providing 530 simultaneously the phase coherent first and
second RF signal to the first and second antenna element,
respectively, can reduce the hardware complexity and hence the
manufacturing costs of the radar system. Furthermore, due to the
phase coherence of first and second RF signal the noise figure of
the radar system can be reduced, which can in turn lead to a higher
sensitivity, accuracy, and/or reliability of the radar system.
[0122] Additionally, the method 500 can comprise transmitting a
radar signal based on the first and the second radio frequency
signal simultaneously from the first and the second antenna element
towards a target outside the vehicle.
[0123] According to the method 500, the radar system may be
operated in a frequency range above 20 GHz (or above 50 GHz, or
above 75 GHz, or above 90 GHz, or above 120 GHz, or above 1000
GHz). A higher frequency (e.g., a higher frequency of the emitted
radar signals) can provide a higher range and/or angular resolution
of the radar system.
[0124] Additionally, the method 500 can comprise receiving a first
portion of a reflection of a radar signal from a target outside the
vehicle at the first antenna element and a second portion of the
reflection at the second antenna element. Furthermore, the method
500 can comprise mixing the first portion of the reflection with
the first radio frequency signal at the first antenna element and
mixing the second portion of the reflection with the second radio
frequency signal at the second antenna element. Because both the
first and the second RF signal are derived from the common local
oscillator signal, noise (e.g., phase noise and/or amplitude noise)
added to the received first and second portion of the reflected
radar signal in the course of mixing can be correlated. The mixed
first and the second portion of the reflected radar signal can be
provided as a first and second receive signal, respectively, to the
radar unit. Due to the correlation of the noise in the first and
second receive signal, the radar unit may recognize the noise in
the first and second receive signal and may at least partially
cancel the noise by applying noise cancellation algorithms
[0125] More details and aspects are mentioned in connection with
the embodiments described above or below. The embodiment shown in
FIG. 5 may comprise one or more optional additional features
corresponding to one or more aspects mentioned in connection with
the proposed concept or one or more embodiments described above
(e.g. FIGS. 1-4) or below.
[0126] Some embodiments relate to radar synchronization and
communication over plastic (e.g., dielectric) waveguides. For
example, radar transmitters (e.g., the radar radio heads) can be
used and distributed over the bumper of a car for discrimination of
the direction towards a reflecting obstacle (e.g., a target). For
this purpose, the radar transmitters and receivers can be
synchronized to the same reference frequency (e.g., a common local
oscillator signal). Radar signals (e.g., RF signals derived from a
common local oscillator signal) distributed over waveguides to
different transmit receive positions (e.g., to the radar radio
heads) can allow triangulation with improved accuracy.
[0127] According to another aspect of the present disclosure, it is
provided a radar parking aid using transmit and receive waveguides
(e.g., dielectric waveguides) as well as means for short range
radar monitoring. For example, radar signals (e.g., RF signals
derived from a common local oscillator signal) can be distributed
over waveguides to different transmit and receive positions (e.g.,
different antenna elements) in order to allow spatial resolution
enhancement. Such radar systems can, for example, replace
ultrasonic parking assists.
[0128] The aspects and features mentioned and described together
with one or more of the previously detailed examples and figures,
may as well be combined with one or more of the other examples in
order to replace a like feature of the other example or in order to
additionally introduce the feature to the other example.
[0129] Examples may further be or relate to a computer program
having a program code for performing one or more of the above
methods, when the computer program is executed on a computer or
processor. Steps, operations or processes of various
above-described methods may be performed by programmed computers or
processors. Examples may also cover program storage devices such as
digital data storage media, which are machine, processor or
computer readable and encode machine-executable,
processor-executable or computer-executable programs of
instructions. The instructions perform or cause performing some or
all of the acts of the above-described methods. The program storage
devices may comprise or be, for instance, digital memories,
magnetic storage media such as magnetic disks and magnetic tapes,
hard drives, or optically readable digital data storage media.
Further examples may also cover computers, processors or control
units programmed to perform the acts of the above-described methods
or (field) programmable logic arrays ((F)PLAs) or (field)
programmable gate arrays ((F)PGAs), programmed to perform the acts
of the above-described methods.
[0130] The description and drawings merely illustrate the
principles of the disclosure. Furthermore, all examples recited
herein are principally intended expressly to be only for
pedagogical purposes to aid the reader in understanding the
principles of the disclosure and the concepts contributed by the
inventor(s) to furthering the art. All statements herein reciting
principles, aspects, and examples of the disclosure, as well as
specific examples thereof, are intended to encompass equivalents
thereof.
[0131] A functional block denoted as "means for . . . " performing
a certain function may refer to a circuit that is configured to
perform a certain function. Hence, a "means for s.th." may be
implemented as a "means configured to or suited for s.th.", such as
a device or a circuit configured to or suited for the respective
task.
[0132] Functions of various elements shown in the figures,
including any functional blocks labeled as "means", "means for
providing a sensor signal", "means for generating a transmit
signal.", etc., may be implemented in the form of dedicated
hardware, such as "a signal provider", "a signal processing unit",
"a processor", "a controller", etc. as well as hardware capable of
executing software in association with appropriate software. When
provided by a processor, the functions may be provided by a single
dedicated processor, by a single shared processor, or by a
plurality of individual processors, some of which or all of which
may be shared. However, the term "processor" or "controller" is by
far not limited to hardware exclusively capable of executing
software, but may include digital signal processor (DSP) hardware,
network processor, application specific integrated circuit (ASIC),
field programmable gate array (FPGA), read only memory (ROM) for
storing software, random access memory (RAM), and non-volatile
storage. Other hardware, conventional and/or custom, may also be
included.
[0133] A block diagram may, for instance, illustrate a high-level
circuit diagram implementing the principles of the disclosure.
Similarly, a flow chart, a flow diagram, a state transition
diagram, a pseudo code, and the like may represent various
processes, operations or steps, which may, for instance, be
substantially represented in computer readable medium and so
executed by a computer or processor, whether or not such computer
or processor is explicitly shown. Methods disclosed in the
specification or in the claims may be implemented by a device
having means for performing each of the respective acts of these
methods.
[0134] It is to be understood that the disclosure of multiple acts,
processes, operations, steps or functions disclosed in the
specification or claims may not be construed as to be within the
specific order, unless explicitly or implicitly stated otherwise,
for instance for technical reasons. Therefore, the disclosure of
multiple acts or functions will not limit these to a particular
order unless such acts or functions are not interchangeable for
technical reasons. Furthermore, in some examples a single act,
function, process, operation or step may include or may be broken
into multiple sub-acts, -functions, -processes, -operations or
-steps, respectively. Such sub acts may be included and part of the
disclosure of this single act unless explicitly excluded.
[0135] Furthermore, the following claims are hereby incorporated
into the detailed description, where each claim may stand on its
own as a separate example. While each claim may stand on its own as
a separate example, it is to be noted that--although a dependent
claim may refer in the claims to a specific combination with one or
more other claims--other examples may also include a combination of
the dependent claim with the subject matter of each other dependent
or independent claim. Such combinations are explicitly proposed
herein unless it is stated that a specific combination is not
intended. Furthermore, it is intended to include also features of a
claim to any other independent claim even if this claim is not
directly made dependent to the independent claim.
* * * * *